这个程序中的粒子滤波重采样采用了mcmc算法，程序本身比较简单，对于学习mcmc的人来说非常有用。

Abstract—We propose a novel framework that jointly estimates the ground plane and a target’s motion trajectory. This results in improvements for both. Estimating their joint posterior is based on Particle Markov Chain Monte Carlo (Particle MCMC). In